Analysis of the State Transition for a Humanoid Robot SJTU-HR1 from Sitting to Standing

被引：0
|
作者：
Qi, Kaicheng [1 ,2 ,3 ]
Gao, Feng [3 ]
Liu, Wei [1 ,2 ]
Yang, Jialun [3 ]
机构：
[1] Beihang Univ, Sch Mech Engn & Automat, Beijing 100083, Peoples R China
[2] Hebei Univ Technol, Sch Mech Engn, Tianjin 300130, Peoples R China
[3] Jiao Tong Univ, State Key Lab Mech Syst & Vibrat, Shanghai 200240, Peoples R China
来源：
2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS | 2009年
基金：
中国国家自然科学基金;
关键词：
SJTU-HR1; state; G(F) set; state transition; WALKING;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Rising up to a standing state from a sitting state is one of the most important human activities of daily life. It is of equal importance for the humanoid robot. This paper presents the concept of humanoid robot SJTU-HR1, researches on the characteristics of sitting and standing states using the generalized function (G(F)) set, and gets the interested end-effectors (EEs). Then the work focuses on the analysis of the transition from sitting to standing state. Moreover, we abstract some paths according to contact points to decrease the applied force. Finally, we select a path from sitting to standing up, analyze its kinematics characteristics of the EEs, and establish a simulation to this process to testify the merits of the optimal paths selected.
引用
收藏
页码：1922 / +
页数：2
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